TY - JOUR
T1 - PixeLite
T2 - A Thin and Wearable High Bandwidth Electroadhesive Haptic Array
AU - Tan, Sylvia
AU - Klatzky, Roberta L.
AU - Peshkin, Michael A.
AU - Edward Colgate, J.
N1 - Publisher Copyright:
© 2008-2011 IEEE.
PY - 2023/10/1
Y1 - 2023/10/1
N2 - We present PixeLite, a novel haptic device that produces distributed lateral forces on the fingerpad. PixeLite is 0.15 mm thick, weighs 1.00 g, and consists of a 4×4 array of electroadhesive brakes ('pucks') that are each 1.5 mm in diameter and spaced 2.5 mm apart. The array is worn on the fingertip and slid across an electrically grounded countersurface. It can produce perceivable excitation up to 500 Hz. When a puck is activated at 150 V at 5 Hz, friction variation against the countersurface causes displacements of 627 $\boldsymbol{\pm }$ 59 $\boldsymbol{\mu }$m. The displacement amplitude decreases as frequency increases, and at 150 Hz is 47 $\boldsymbol{\pm }$ 6 $\boldsymbol{\mu }$m. The stiffness of the finger, however, causes a substantial amount of mechanical puck-to-puck coupling, which limits the ability of the array to create spatially localized and distributed effects. A first psychophysical experiment showed that PixeLite's sensations can be localized to an area of about 30% of the total array area. A second experiment, however, showed that exciting neighboring pucks out of phase with one another in a checkerboard pattern did not generate perceived relative motion. Instead, mechanical coupling dominates the motion, resulting in a single frequency felt by the bulk of the finger.
AB - We present PixeLite, a novel haptic device that produces distributed lateral forces on the fingerpad. PixeLite is 0.15 mm thick, weighs 1.00 g, and consists of a 4×4 array of electroadhesive brakes ('pucks') that are each 1.5 mm in diameter and spaced 2.5 mm apart. The array is worn on the fingertip and slid across an electrically grounded countersurface. It can produce perceivable excitation up to 500 Hz. When a puck is activated at 150 V at 5 Hz, friction variation against the countersurface causes displacements of 627 $\boldsymbol{\pm }$ 59 $\boldsymbol{\mu }$m. The displacement amplitude decreases as frequency increases, and at 150 Hz is 47 $\boldsymbol{\pm }$ 6 $\boldsymbol{\mu }$m. The stiffness of the finger, however, causes a substantial amount of mechanical puck-to-puck coupling, which limits the ability of the array to create spatially localized and distributed effects. A first psychophysical experiment showed that PixeLite's sensations can be localized to an area of about 30% of the total array area. A second experiment, however, showed that exciting neighboring pucks out of phase with one another in a checkerboard pattern did not generate perceived relative motion. Instead, mechanical coupling dominates the motion, resulting in a single frequency felt by the bulk of the finger.
KW - Soft wearable haptics
KW - distributed forces
KW - electroadhesion
KW - lateral skin stretch
KW - texture perception
UR - http://www.scopus.com/inward/record.url?scp=85159812894&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85159812894&partnerID=8YFLogxK
U2 - 10.1109/TOH.2023.3272635
DO - 10.1109/TOH.2023.3272635
M3 - Article
C2 - 37134037
AN - SCOPUS:85159812894
SN - 1939-1412
VL - 16
SP - 555
EP - 560
JO - IEEE Transactions on Haptics
JF - IEEE Transactions on Haptics
IS - 4
ER -